By D. Sc., Ph. D. Miomir Vukobratović, Ph. D. Veljko Potkonjak (auth.)
This publication is a logical continuation of quantity 1 of the sequence entitled "Scientific basics of Robotics" which provides all the easy equipment for automated building of dynamics of manipulation ro bots in addition to the basic ideas of computer-aided layout in their mechanics. Vol. 1 of the sequence additionally comprises the most useful re sults from the elastodynamics of manipulation robots, having in brain a necessity for forming a working laptop or computer strategy which permits effective assessments of elastic deformations of a manipulator tip or another of its charac teristic issues. Wishing so as to add a hugely applications-oriented size to the dynamic element of reports of manipulation robots, the authors have made a type of a topic-based choice by means of leaving unconsidered a few elements of experiences of robots, resembling elasticity, and discussing others, extra im portant of their opinion, to such an volume as suffices to lead them to virtually acceptable. The authors have made up our minds to not deal with intimately the matter of versatile manipulation robots for 2 purposes. the 1st effects from the atti tude that the permissible (desired) robotic elasticity could, satisfacto rily good, be validated utilizing the tactic defined in Vol. 1 of the Series.
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Extra resources for Applied Dynamics and CAD of Manipulation Robots
Here, we assume that the vectors X and q are of the same dimensions. INPUT: ~(tk)' k=O,1, ... ,k end q (to)' q(to) t * t * + L',t Integration to obtain q(t * + L',t), • * + L',t) q(t no OUTPUT: P(t k ), k=O,1, ... ,k end Fig. 1. 3) where q and X are n-dimensional vectors. The function n is one-place and can always be determined (not explicitly but as a computational algorithm). 3) resulting from the impossibility to ei- 25 ther express q explicitly or even approximate it numerically because of the complexity of the system which has to be solved.
G. Ci of the segment and the axes are oriented along the inertial principal axes. -f. axes is also suitable but is not obligatory. l to designate a vector corresponding to the i-th segment or i-th joint and which is expressed via three projections ai 7 onto the axes of the external coordinate system. designates the same vector but expressed by projections onto axes of the i-th body-fixed 7 system. a. -f. system. -f. system to the external system (matrix Ai) -+ a. ~. 3. -f. l - 1 , l. 5b) or inversely: :t a.
The available design methods do not meet the requirements imposed upon them. The time required to design machines and technical systems becomes longer and longer and the number of staffs engaged in this work larger and larger. Results of some analyses of the amount of work consumed to elaborate design and technical documentation show that the creation of normative and technical documentation accounts for about 50% of design time. One of the most common operations of design process is the acquisition of data required for the product being designed; this operation takes about 35% of the working hours consumed for creating the documentation within technological preparations for the production process.
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